Update to work with Ubuntu 20.04 and ROS2 Foxy. (#24)

* Update to work with Ubuntu 20.04 and ROS2 Foxy. * Change CMake to use ament_export_targets instead of ament_export_interfaces. This likely breaks support for ROS2 Eloquent. * Switch Actions CI from 18.04/Eloquent to 20.04/Foxy. * Change launch file instances of node-name to name. * Fix for installing tzdata to accept default option. * Switch CI to use ROS Docker image instead of Ubuntu Docker image. * Remove rosdep init since it is already done in ROS image. * Remove install of packages included in ROS Docker image. * Revert schedule for CI runs. * Enable CI on push. * Remove unused CI environment variable. * Revert CI distribution variable. * Fix yaml error for CI. Simplify env variables. * Remove DEBIAN_FRONTENT. * Switch scipy use of factorial from misc module to special module. * More robust way to import factorial. * Rename all node_* variables in python so that the node_ prefix is removed. * Switch CI from using Gazebo 9 to 11. * Updated thruster default axis value * Launch files now use a topic / param to load the robot description * Updated thruster_manager to parse an urdf from a string instead of a file to get the thrust axes * Updated tests to load the robot description from a topic / param * Updated CI to use both Gazebo 9 and 11 * Fixed syntax error * Updates about sim time request * Updated changelog and readme Co-authored-by: Thomas Denewiler <thomas.denewiler@navy.mil> Co-authored-by: jpliquid <65894393+jpliquid@users.noreply.github.com>
Liquid-ai · Dec 15, 2020 · d3f5417 · d3f5417
1 parent 7693fdb
commit d3f5417
Show file tree

Hide file tree

Showing 132 changed files with 521 additions and 627 deletions.
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -1,132 +1,86 @@
+---
 name: CI
 
-on: 
+on:  # NOLINT
   pull_request:
+  push:
   schedule:
-    - cron: '0 0 */2 * *' # Every 2 days at midnight
-#  push:
-#    branches: [ master ]
-#  pull_request:
-#    branches: [ master ]
+    - cron: '0 0 */2 * *'  # Every 2 days at midnight
 
 jobs:
   test_docker:
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-latest
     strategy:
+      fail-fast: false
       matrix:
-        ros_distribution:
-          - eloquent
-
-        build_path:
-          - ros_ws/src
+        gazebo-version: [9, 11]
         # Define the Docker image(s) associated with each ROS distribution.
         # The include syntax allows additional variables to be defined, like
         # docker_image in this case. See documentation:
         # https://help.github.com/en/actions/reference/workflow-syntax-for-github-actions#example-including-configurations-in-a-matrix-build
-        #
+
         # Platforms are defined in REP 3, and REP 2000:
         # https://ros.org/reps/rep-0003.html
         # https://ros.org/reps/rep-2000.html
         include:
-          # Eloquent Elusor (November 2019 - November 2020)
-          - docker_image: ubuntu:bionic
-            ros_distribution: eloquent
-            ros_version: 2
-
-    container:
-      image: ${{ matrix.docker_image }}
+          # Foxy Fitzroy (May 2020 - May 2023)
+          - docker_image: ros:foxy
+            ros_distribution: foxy
 
-    steps:
-      - name: sudo
-        run: |
-          apt-get update
-          apt-get install --no-install-recommends --quiet --yes sudo
+    container: ${{ matrix.docker_image }}
 
-      # Base packages + killall (for killing gazebo)
-      - name: base
-        run: |
-          apt-get update
-          apt-get install build-essential clang cmake git wget libasio-dev libtinyxml2-dev lcov -y
-          apt-get install psmisc
+    defaults:
+      run:
+        shell: bash
 
-      # action/setup-ros is not used yet as it installs pytest > 6.0 which leads to syntax errors...
-      - name: install ros
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          path: src/plankton
+
+      - name: Install Tools
         run: |
-          apt update && apt install locales
-          locale-gen en_US en_US.UTF-8
-          update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
-          export LANG=en_US.UTF-8
-          bash -c echo 'Etc/UTC' > /etc/timezone
-          ln	-sf /usr/share/zoneinfo/Etc/UTC /etc/localtime
-          apt install tzdata -y
-          apt update && apt install curl gnupg2 lsb-release -y
-          curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
-          sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
-          apt update
-          apt install ros-${{ matrix.ros_distribution }}-desktop -y
-          apt install python3-rosdep -y
-          rosdep init
+          sudo apt update
+          sudo apt install -y build-essential clang cmake git wget libasio-dev libtinyxml2-dev lcov psmisc
           rosdep update
-          apt install python3-colcon-common-extensions python3-colcon-coveragepy-result	python3-colcon-lcov-result python3-colcon-library-path python3-colcon-metadata python3-colcon-mixin -y
-          
-      #- name: setup ROS environment
-      #  uses: ros-tooling/setup-ros@0.0.25
-      #  with:
-      #    required-ros-distributions: ${{ matrix.ros_distribution }}
+          sudo apt install -y python3-colcon-coveragepy-result
+          sudo apt install -y python3-colcon-lcov-result
 
-      #install Gazebo, install eloquent specific packages, create src directory
-      - name: prepare
+      - name: Install Gazebo
         run: |
-          apt-get -qq update
-          apt-get -qq upgrade -y
+          echo Installing Gazebo ${{ matrix.gazebo-version }}
           sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
           wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
-          apt-get install gazebo9 -y
-          apt-get install libgazebo9-dev -y
-          apt install ros-${{ matrix.ros_distribution }}-gazebo-ros-pkgs -y
-          apt install ros-eloquent-launch-xml -y 
-          apt install ros-eloquent-launch-yaml -y
-          mkdir -p ${{ matrix.build_path }}
-          
-      - name: checkout
-        uses: actions/checkout@v2
-        with:
-          path: ${{ matrix.build_path }}
-
-      - name: rosdep
-        run: DEBIAN_FRONTEND=noninteractive rosdep update && rosdep install --from-paths ${{ matrix.build_path }} --ignore-src --rosdistro ${{ matrix.ros_distribution }} -y
+          sudo apt update
+          sudo apt install -y gazebo${{ matrix.gazebo-version }}
+          sudo apt install -y libgazebo${{ matrix.gazebo-version }}-dev
+          sudo apt install -y ros-${{ matrix.ros_distribution }}-gazebo-ros-pkgs
 
-      - name: build
-        run: . /opt/ros/${{ matrix.ros_distribution }}/setup.sh && colcon build --packages-up-to plankton --merge-install
+      - name: Install Dependencies
+        run: |
+          rosdep update
+          rosdep install --from-paths src --ignore-src --rosdistro ${{ matrix.ros_distribution }} -y
+
+      - name: Build Packages
+        run: |
+          . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
+          colcon build --packages-up-to plankton --merge-install
 
-      - name: run tests
+      - name: Run Unit Tests
         id: action_ros_ci_step
-        run: . /opt/ros/${{ matrix.ros_distribution }}/setup.sh && colcon test --merge-install --packages-up-to plankton --event-handlers console_cohesion+
-
-      - name: echo results
-        run: . /opt/ros/${{ matrix.ros_distribution }}/setup.sh  && colcon test-result --all --verbose
-
-      - name: upload Logs
+        run: |
+          . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
+          colcon test --merge-install --packages-up-to plankton --event-handlers console_cohesion+
+
+      - name: Unit Test Results
+        run: |
+          echo Results for Gazebo ${{ matrix.gazebo-version }}
+          . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
+          colcon test-result --all --verbose
+
+      - name: Upload Logs
         uses: actions/upload-artifact@v1
         with:
           name: colcon-logs-linux
           path: log/
         if: always()
-
-  # This workflow contains a single job called "build"
-  #build:
-    # The type of runner that the job will run on
-  #  runs-on: ubuntu-18.04
-
-  #  steps:
-  #    - uses: actions/checkout@v2
-  #    - uses: ros-tooling/setup-ros@0.0.25
-  #      with:
-  #        required-ros-distributions: eloquent
-  #    - uses: ros-tooling/action-ros-ci@0.0.19
-  #      with:
-  #        package-name: plankton
-  #        target-ros2-distro: eloquent
-
-
-
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,3 +1,18 @@
+## 0.6.0
+### General
+
+- Migration to ROS 2 Foxy
+- Added support for Gazebo 11
+- Files parsed by Xacro are now directly output as a string and loaded as a node parameter in the various launch files
+- Known issue: teleop shows unexpected behaviour with the trajectory control package's controllers, as well as the rov_mb_sm controller / rov_nl_pid_controller
+- Known issue: the CPC sensor and the custom battery plugins crash when loaded
+- Known issue: DVL and camera sensor won't show in Rviz
+- Known issue: The subprocess based sim time request fails when the plankton sim time node is launched within the same launch file. A simple fix is to start the sim time node first and separately
+
+### uuv_thruster_manager
+
+- [**thruster_manager.py**] The thruster manager now gets and parse the urdf robot description from a topic instead of a file 
+
 ## 0.5.3
 
 ### General

diff --git a/README.md b/README.md
@@ -8,7 +8,7 @@ It is a maritime environment simulator with an open source core, and a special f
 
 We intend to build a sustainable and open source core simulator for maritime robotics research. This core will support flexible specification of sensor suites and environmental conditions.
 
-This project benefits from great open source advances in the simulation domain, mainly ROS, gazebo and its plugin UUV Simulator. 
+This project benefits from great open source advances in the simulation domain, mainly ROS, Gazebo and its plugin UUV Simulator. 
 It is also built on data characterizing the needs of robotics researchers in terms of simulation. We gathered these data in our [wiki](https://github.com/Liquid-ai/Plankton/wiki), including the results of our [own survey](https://github.com/Liquid-ai/Plankton/blob/master/user_needs/Survey_about_simulators_for_robotics_research.pdf) on simulation needs.
 
 # Roadmap #
@@ -34,34 +34,38 @@ So you are considering making a code contribution, great! We love to have contri
 Before starting hands-on on coding, please check out our issue board to see if we are already working on that, it would be a pity putting an effort into something just to discover that someone else was already working on that. In case of doubt or to discuss how to proceed, please contact one of us (or send an email to info@liquid-tech.ai).
 
 # Installation #
-Plankton currently relies (and has only been tested with) on **Ubuntu 18.04**, **ROS 2 Eloquent** and **Gazebo 9**, even if the package should work with later versions, considering some adjustments.
+Plankton currently supports:
 
-### 1. Install ROS 2 Eloquent 
+- **ROS 2 Foxy** with **Gazebo 9** or **Gazebo 11** and **Ubuntu 20.04**
 
-If you don’t have ROS 2 eloquent installed, follow the instructions below and prefer to install the `ros-eloquent-desktop` package:
-<https://index.ros.org/doc/ros2/Installation/Eloquent/Linux-Install-Debians/>
+- **ROS 2 Eloquent**, **Ubuntu 18.04** and **Gazebo 9**
 
-### 2. Install Gazebo 9
+### 1. Install ROS 2 Foxy 
 
-If you don't have Gazebo 9 installed, open a terminal and follow the steps below:
+If you don’t have ROS 2 Foxy installed, follow the instructions below and prefer to install the `ros-foxy-desktop` package:
+<https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Install-Debians/>
+
+### 2. Install Gazebo 11
+
+If you don't have Gazebo 11 installed, open a terminal and follow the steps below:
 
 ```
 sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
 wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 sudo apt-get update
-sudo apt-get install gazebo9
-sudo apt-get install libgazebo9-dev
+sudo apt-get install gazebo11
+sudo apt-get install libgazebo11-dev
 ```
 
-You can write `gazebo` in a terminal to make sure that gazebo runs correctly. Write `gazebo --version` to ensure that the version number is 9.X.
+You can write `gazebo` in a terminal to make sure that gazebo runs correctly. Write `gazebo --version` to ensure that the version number is 11.X.
 
->For more information about the installation of Gazebo, refer to the official installation documentation (beware that the default installation command will not install the version 9): 
+>For more information about the installation of Gazebo, refer to the official installation documentation (beware that the default installation command will not install the version 11): 
 ><http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install>
 
 ### 3. Install the ros packages for gazebo
 
 Write in a terminal:  
-`sudo apt install ros-eloquent-gazebo-ros-pkgs`
+`sudo apt install ros-foxy-gazebo-ros-pkgs`
 
 >See <http://gazebosim.org/tutorials?tut=ros2_installing&cat=connect_ros> for more detailed information about gazebo and ROS 2 connection.
 
@@ -81,7 +85,7 @@ Now, clone the Plankton repository:
 
 At this point, you need to source 2 different files described below to configure ROS 2 and Gazebo environment variables: 
    - For ROS 2 variables  
-`source /opt/ros/eloquent/setup.bash`  
+`source /opt/ros/foxy/setup.bash`  
    - For Gazebo   
 `source /usr/share/gazebo/setup.sh`
 
@@ -95,7 +99,7 @@ rosdep update
 Browse to the root of your workspace and check for missing dependencies:  
 ```
 cd ~/ros2_ws/
-rosdep install -i --from-path src --rosdistro eloquent -y
+rosdep install -i --from-path src --rosdistro foxy -y
 ```
 
 Install Colcon, the build tool system:  
@@ -107,12 +111,6 @@ Build the Plankton repository:
 Source the file for your installation workspace (change the path accordingly)  
 `source $HOME/ros2_ws/install/setup.bash`  
 
-Now, install the XML / YAML frontend for launch files, which are missing in Eloquent:  
-```
-sudo apt install ros-eloquent-launch-xml    
-sudo apt install ros-eloquent-launch-yaml
-```
-
 Next step is… No next step, you are already done!
 If everything went well, you should be able to run example cases.
 
@@ -121,7 +119,7 @@ If everything went well, you should be able to run example cases.
 Note: Every time you open a new terminal, you need to source 3 different files described below to configure ROS 2 and Gazebo environment variables. Write the following each time you start a new terminal to deal with ROS 2 / Gazebo stuff, or prefer to add them at the end of your .bashrc file with `gedit ~/.bashrc`. For the latter, don’t forget to source your .bashrc to enforce the update after saving these changes, or open a fresh terminal.  
 
    - For ROS 2 variables  
-`source /opt/ros/eloquent/setup.bash`  
+`source /opt/ros/foxy/setup.bash`  
    - For your installation workspace (change the path accordingly)  
 `source $HOME/ros2_ws/install/setup.bash`  
    - For Gazebo   

diff --git a/plankton/package.xml b/plankton/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="3">
     <name>plankton</name>
-    <version>0.5.3</version>
+    <version>0.6.0</version>
     <description>Open source simulator for maritime robotics research</description>
 
     <author email="loic.mougeolle@naval-group.com">Loïc Mougeolle</author>

diff --git a/plankton_utils/package.xml b/plankton_utils/package.xml
@@ -3,7 +3,7 @@
 <package format="3">
   <name>plankton_utils</name>
 
-    <version>0.5.3</version>
+    <version>0.6.0</version>
     <description>A collection of functions to help interacting with ROS 2 API</description>
 
     <author email="jean-philip-a.royer@naval-group.com">Jean-Philip Royer</author>

diff --git a/plankton_utils/src/plankton_utils/time.py b/plankton_utils/src/plankton_utils/time.py
@@ -60,7 +60,7 @@ def __is_sim_time_subprocess(timeout_sec= 5, default_value=False, return_param=T
             from subprocess import TimeoutExpired
 
             output = subprocess.check_output(
-                ['ros2', 'param', 'get', '/plankton_global_sim_time', 'use_sim_time'], 
+                ['ros2 param get /plankton_global_sim_time use_sim_time'], 
                 timeout=max(timeout_sec - (time.time() - starting_time), 0),
                 shell=True
             )

diff --git a/uuv_assistants/launch/message_to_tf.launch b/uuv_assistants/launch/message_to_tf.launch
@@ -3,16 +3,19 @@
   <arg name="world_frame" default="world"/>
   <arg name="child_frame_id" default="/$(var namespace)/base_link"/>
   <arg name="odometry_topic" default="/$(var namespace)/pose_gt"/>
+  <arg name="use_sim_time" default="true"/>
 
   <group>
     <push-ros-namespace namespace="$(var namespace)"/>
     <!-- publish state and tf for in relation to the world frame -->
-    <node node-name="ground_truth_to_tf_$(var namespace)" pkg="uuv_assistants" exec="uuv_message_to_tf" output="screen">
+    <node name="ground_truth_to_tf_$(var namespace)" pkg="uuv_assistants" exec="uuv_message_to_tf" output="screen">
       <param name="odometry_topic" value="$(var odometry_topic)" />
       <param name="frame_id" value="$(var world_frame)" />
       <param name="stabilized_frame_id" value="/$(var namespace)/base_stabilized" />
       <param name="footprint_frame_id" value="/$(var namespace)/base_footprint" />
       <param name="child_frame_id" value="$(var child_frame_id)" />
+      <!-- FIXME Directy test sim time value in the node -->
+      <param name="use_sim_time" value="$(var use_sim_time)" />
     </node>
   </group>
 </launch>
diff --git a/uuv_assistants/launch/publish_body_sname.launch b/uuv_assistants/launch/publish_body_sname.launch
@@ -5,7 +5,7 @@
 
   <group>
     <push-ros-namespace namespace="$(var uuv_name)"/>
-    <node pkg="tf2_ros" exec="static_transform_publisher" node-name="sname_frame_publisher"
+    <node pkg="tf2_ros" exec="static_transform_publisher" name="sname_frame_publisher"
           args="0 0 0 0 0 3.141592653589793 /$(var uuv_name)/base_link /$(var uuv_name)/base_link_ned" />
         <param name="use_sim_time" value="$(var use_sim_time)"/>
   </group>

diff --git a/uuv_assistants/launch/publish_footprints.launch b/uuv_assistants/launch/publish_footprints.launch
@@ -1,4 +1,4 @@
 <launch>
-    <node node-name="publish_footprints" pkg="uuv_assistants" exec="publish_footprints.py" output="screen"/>
+    <node name="publish_footprints" pkg="uuv_assistants" exec="publish_footprints.py" output="screen"/>
 </launch>
 
diff --git a/uuv_assistants/launch/publish_vehicle_footprint.launch b/uuv_assistants/launch/publish_vehicle_footprint.launch
@@ -7,9 +7,9 @@
 
     <group>
         <push-ros-namespace namespace="$(arg uuv_name)"/>
-        <node node-name="publish_footprints" 
-              pkg="uuv_assistants" 
-              exec="publish_vehicle_footprint.py" 
+        <node name="publish_footprints"
+              pkg="uuv_assistants"
+              exec="publish_vehicle_footprint.py"
               output="screen">
               <remap from="odom" to="$(arg odom_topic)"/>
               <param name="scale_footprint" value="$(var scale_footprint)"/>

diff --git a/uuv_assistants/launch/publish_world_ned_frame.launch b/uuv_assistants/launch/publish_world_ned_frame.launch
@@ -1,7 +1,7 @@
 <launch>
   <arg name="use_sim_time" default="true"/>
 
-  <node pkg="tf2_ros" exec="static_transform_publisher" node-name="world_ned_frame_publisher"
+  <node pkg="tf2_ros" exec="static_transform_publisher" name="world_ned_frame_publisher"
     args="0 0 0 1.5707963267948966 0 3.141592653589793 world world_ned" >
       <param name="use_sim_time" value="$(var use_sim_time)"/>
   </node>

diff --git a/uuv_assistants/launch/set_simulation_timer.launch b/uuv_assistants/launch/set_simulation_timer.launch
@@ -2,7 +2,7 @@
     <arg name="timeout" />
 
     <!-- FIXME Required is currently not defined in the xml and needs python way launch files... -->
-    <node node-name="simulation_timeout" pkg="uuv_assistants" exec="set_simulation_timer.py" required="true"
+    <node name="simulation_timeout" pkg="uuv_assistants" exec="set_simulation_timer.py" required="true"
           output="screen">
         <param name="timeout" value="$(var timeout)"/>
     </node>